Test of current control

These drives:

• ipos4808
• EL7041-0052
• EL7047
• EL7031
• Festo CMMT-ST

Current:

• MAX_CURR 1.0 A
• STD_CURR 0.2 A

Mechanics:

• Oriental Motor PKE244A in series
  • 8 Ohm (4 * 2)
  • 9.7mH (4.85 * 2)
• No mechanics, no damper

Pics

EL7031

Cannot move faster than 1720.

Current boost 0

• sc0, 1720deg/s
• sc1, 720
• sc2, 0.1 deg/s

Current boost 100 default

• sc3, 1720deg/s
• sc4, 720
• sc5, 0.1 deg/s

Current boost 500

• sc6, 720deg/s OBS!!! different velo order
• sc7, 1720
• sc8, 0.1 deg/s

holding current

• Looks higher than the 200mA
• disabled ttd_15
• fullstep (enabled) ttd_19
• +0.45 deg ttd_20
• +0.9 deg ttd_21
• +1.35 deg ttd_22
• +1.8 deg ttd_23

EL7041-0052

Cannot move faster than 1720

Current boost 0

• sc9, 720 deg/s
• sc10, 1720
• sc11, 0.1

Current boost 100 default

• sc12, 720 deg/s
• sc13, 1720
• sc14, 0.1

Current boost 500

• sc15, 720 deg/s
• sc16, 1720
• sc17, 0.1

holding current

• disabled ttd_24
• fullstep (enabled) ttd_25
• +0.45 deg ttd_26
• +0.9 deg ttd_27
• +1.35 deg ttd_28
• +1.8 deg ttd_29

ipos4808

${SCRIPTEXEC} ${ecmccomp_DIR}applyComponent.cmd "COMP=Motor-Generic-2Phase-Stepper,  MACROS='I_MAX_MA=1000,I_STDBY_MA=200,I_CTRL_GAIN=1.0,I_CTRL_INT=0.26'"

• sc18, 720 deg/s
• sc19, 1720
• sc20, 0.1
• sc21, 2000deg/s
• sc22, 2200deg/s (higher velo than this vibration starts)
• sc23, 3000deg/s works but much vibrations..probably loosing steps

holding current

• disabled ttd_0
• fullstep (enabled) ttd_3
• +0.45 deg ttd_4
• +0.9 deg ttd_5
• +1.35 deg ttd_6
• +1.8 deg ttd7

EL7047

${SCRIPTEXEC} ${ecmccomp_DIR}applyComponent.cmd "COMP=Motor-Generic-2Phase-Stepper, MACROS='I_MAX_MA=1000, I_STDBY_MA=200, U_NOM_MV=48000,R_COIL_MOHM=8000,L_COIL_UH=9700 ,SPEED_RANGE=2'"

• sc24, 720 deg/s
• sc25, 1720
• sc26, 0.1
• sc27 2000, works nice, current looks a bit strange
• sc28 2200, works nice, current looks a bit strange
• sc29, 3000 OSC alot, loses steps

test current control 1

${SCRIPTEXEC} ${ecmccomp_DIR}applyComponent.cmd "COMP=Motor-Generic-2Phase-Stepper, MACROS='I_MAX_MA=1000, I_STDBY_MA=200, U_NOM_MV=48000,R_COIL_MOHM=8000,L_COIL_UH=9700 ,SPEED_RANGE=2'"
##- Kp
ecmcConfigOrDie "Cfg.EcAddSdo(${ECMC_EC_SLAVE_NUM},0x8011,0x1,300,2)"
#
##- Ki
ecmcConfigOrDie "Cfg.EcAddSdo(${ECMC_EC_SLAVE_NUM},0x8011,0x2,20,2)"

max 2350deg/s

test current control 2

##- Kp
ecmcConfigOrDie "Cfg.EcAddSdo(${ECMC_EC_SLAVE_NUM},0x8011,0x1,500,2)"
#
##- Ki
ecmcConfigOrDie "Cfg.EcAddSdo(${ECMC_EC_SLAVE_NUM},0x8011,0x2,40,2)"

also 2350 deg/s

test current control 3

##- Kp
ecmcConfigOrDie "Cfg.EcAddSdo(${ECMC_EC_SLAVE_NUM},0x8011,0x1,50,2)"
#
##- Ki
ecmcConfigOrDie "Cfg.EcAddSdo(${ECMC_EC_SLAVE_NUM},0x8011,0x2,5,2)"

also 2350 deg/s

tests EMF 1

# 8010:05 EMF
ecmcConfigOrDie "Cfg.EcAddSdo(${ECMC_EC_SLAVE_NUM},0x8010,0x5,200,2)"

similar max speed, also approx, 2350.

tests EMF 2

# 8010:05 EMF
ecmcConfigOrDie "Cfg.EcAddSdo(${ECMC_EC_SLAVE_NUM},0x8010,0x5,500,2)"

similar max speed, also approx, 2350.

holding current

• disabled ttd_8
• fullstep (enabled) ttd_9
• +0.45 deg ttd_10
• +0.9 deg ttd_11
• +1.35 deg ttd_12
• +1.8 deg ttd_13

Festo in PV

• sc30, 1720deg/s
• sc31, 720
• sc32, 0.1 deg/s
• sc33, 2800deg/s no osc

Works roughly up to 3000deg/s but osc

holding current

• disabled ttd_30
• fullstep (enabled) ttd_31
• +0.45 deg ttd_32
• +0.9 deg ttd_33
• +1.35 deg ttd_34
• +1.8 deg ttd_35